Andy Lustig
/
stateScript_v2
fork of StateScript
Fork of stateScript_v2 by
hardwareInterface.cpp@2:35266b266eaa, 2015-06-03 (annotated)
- Committer:
- mkarlsso
- Date:
- Wed Jun 03 23:41:16 2015 +0000
- Revision:
- 2:35266b266eaa
- Parent:
- 0:8dbd6bd9167f
- Child:
- 3:d7b0a0890d96
Working version with proper interrupt pausing during dIn update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mkarlsso | 0:8dbd6bd9167f | 1 | #include "hardwareInterface.h" |
mkarlsso | 0:8dbd6bd9167f | 2 | //#include <ostream> |
mkarlsso | 0:8dbd6bd9167f | 3 | #include <sstream> |
mkarlsso | 0:8dbd6bd9167f | 4 | |
mkarlsso | 0:8dbd6bd9167f | 5 | using namespace std; |
mkarlsso | 0:8dbd6bd9167f | 6 | |
mkarlsso | 0:8dbd6bd9167f | 7 | //In debug mode, debug messages output to the screen |
mkarlsso | 0:8dbd6bd9167f | 8 | #ifdef DEBUGOUTPUT |
mkarlsso | 0:8dbd6bd9167f | 9 | bool debugOut = true; |
mkarlsso | 0:8dbd6bd9167f | 10 | #else |
mkarlsso | 0:8dbd6bd9167f | 11 | bool debugOut = false; |
mkarlsso | 0:8dbd6bd9167f | 12 | #endif |
mkarlsso | 0:8dbd6bd9167f | 13 | |
mkarlsso | 0:8dbd6bd9167f | 14 | uint32_t timeKeeper; //the main clock (updated every ms) |
mkarlsso | 0:8dbd6bd9167f | 15 | bool resetTimer; |
mkarlsso | 0:8dbd6bd9167f | 16 | bool clockSlave; |
mkarlsso | 0:8dbd6bd9167f | 17 | bool changeToSlave; |
mkarlsso | 0:8dbd6bd9167f | 18 | bool changeToStandAlone; |
mkarlsso | 0:8dbd6bd9167f | 19 | |
mkarlsso | 0:8dbd6bd9167f | 20 | |
mkarlsso | 0:8dbd6bd9167f | 21 | #ifdef MBEDHARDWARE |
mkarlsso | 0:8dbd6bd9167f | 22 | |
mkarlsso | 0:8dbd6bd9167f | 23 | //On the MBED, this needs to be put on a defined bank of memory, or else we run out of memory |
mkarlsso | 0:8dbd6bd9167f | 24 | __attribute((section("AHBSRAM0"),aligned)) outputStream textDisplay(512); |
mkarlsso | 0:8dbd6bd9167f | 25 | |
mkarlsso | 0:8dbd6bd9167f | 26 | #else |
mkarlsso | 0:8dbd6bd9167f | 27 | outputStream textDisplay(256); |
mkarlsso | 0:8dbd6bd9167f | 28 | |
mkarlsso | 0:8dbd6bd9167f | 29 | #endif |
mkarlsso | 0:8dbd6bd9167f | 30 | |
mkarlsso | 0:8dbd6bd9167f | 31 | |
mkarlsso | 0:8dbd6bd9167f | 32 | //--------------------------------------------------------- |
mkarlsso | 0:8dbd6bd9167f | 33 | |
mkarlsso | 0:8dbd6bd9167f | 34 | sSystem::sSystem() { |
mkarlsso | 0:8dbd6bd9167f | 35 | |
mkarlsso | 0:8dbd6bd9167f | 36 | } |
mkarlsso | 0:8dbd6bd9167f | 37 | |
mkarlsso | 0:8dbd6bd9167f | 38 | void sSystem::immediateClockReset() { |
mkarlsso | 0:8dbd6bd9167f | 39 | //For external clock reset |
mkarlsso | 0:8dbd6bd9167f | 40 | timeKeeper = 0; |
mkarlsso | 0:8dbd6bd9167f | 41 | textDisplay << timeKeeper << " Clock reset\r\n"; |
mkarlsso | 0:8dbd6bd9167f | 42 | } |
mkarlsso | 0:8dbd6bd9167f | 43 | |
mkarlsso | 0:8dbd6bd9167f | 44 | void sSystem::mainLoopToDo() { |
mkarlsso | 0:8dbd6bd9167f | 45 | |
mkarlsso | 0:8dbd6bd9167f | 46 | } |
mkarlsso | 0:8dbd6bd9167f | 47 | |
mkarlsso | 0:8dbd6bd9167f | 48 | void sSystem::pauseInterrupts() { |
mkarlsso | 0:8dbd6bd9167f | 49 | |
mkarlsso | 0:8dbd6bd9167f | 50 | } |
mkarlsso | 0:8dbd6bd9167f | 51 | |
mkarlsso | 0:8dbd6bd9167f | 52 | void sSystem::resumeInterrupts() { |
mkarlsso | 0:8dbd6bd9167f | 53 | |
mkarlsso | 0:8dbd6bd9167f | 54 | } |
mkarlsso | 0:8dbd6bd9167f | 55 | |
mkarlsso | 0:8dbd6bd9167f | 56 | int sSystem::getPendingFunctionTriggers(uint16_t *bufferPtr) { |
mkarlsso | 0:8dbd6bd9167f | 57 | return 0; |
mkarlsso | 0:8dbd6bd9167f | 58 | } |
mkarlsso | 0:8dbd6bd9167f | 59 | |
mkarlsso | 0:8dbd6bd9167f | 60 | uint32_t sSystem::getDigitalOutputChangeFlags() { |
mkarlsso | 0:8dbd6bd9167f | 61 | |
mkarlsso | 0:8dbd6bd9167f | 62 | } |
mkarlsso | 0:8dbd6bd9167f | 63 | |
mkarlsso | 0:8dbd6bd9167f | 64 | uint32_t sSystem::getDigitalInputChangeFlags() { |
mkarlsso | 0:8dbd6bd9167f | 65 | |
mkarlsso | 0:8dbd6bd9167f | 66 | } |
mkarlsso | 0:8dbd6bd9167f | 67 | |
mkarlsso | 0:8dbd6bd9167f | 68 | //------------------------------------------------------ |
mkarlsso | 0:8dbd6bd9167f | 69 | sDigitalOut::sDigitalOut() { |
mkarlsso | 0:8dbd6bd9167f | 70 | |
mkarlsso | 0:8dbd6bd9167f | 71 | } |
mkarlsso | 0:8dbd6bd9167f | 72 | |
mkarlsso | 0:8dbd6bd9167f | 73 | //---------------------------------------------------- |
mkarlsso | 0:8dbd6bd9167f | 74 | sDigitalIn::sDigitalIn() { |
mkarlsso | 0:8dbd6bd9167f | 75 | lastDownEvent.triggered = false; |
mkarlsso | 0:8dbd6bd9167f | 76 | lastUpEvent.triggered = false; |
mkarlsso | 2:35266b266eaa | 77 | bufferedDownEvent.triggered = false; |
mkarlsso | 2:35266b266eaa | 78 | bufferedUpEvent.triggered = false; |
mkarlsso | 2:35266b266eaa | 79 | updating = false; |
mkarlsso | 0:8dbd6bd9167f | 80 | } |
mkarlsso | 0:8dbd6bd9167f | 81 | |
mkarlsso | 0:8dbd6bd9167f | 82 | void sDigitalIn::addStateChange(int newState, uint32_t timeStamp) { |
mkarlsso | 0:8dbd6bd9167f | 83 | |
mkarlsso | 0:8dbd6bd9167f | 84 | //With levers and beam breaks, there will be flutter when triggers happen. |
mkarlsso | 0:8dbd6bd9167f | 85 | //The goal is to capture the initial event time, so we ignore extra triggers |
mkarlsso | 0:8dbd6bd9167f | 86 | //until it has been processed |
mkarlsso | 2:35266b266eaa | 87 | if (!updating) { |
mkarlsso | 2:35266b266eaa | 88 | if ((newState == 0) && (!lastDownEvent.triggered)){ |
mkarlsso | 2:35266b266eaa | 89 | lastDownEvent.timeStamp = timeStamp; |
mkarlsso | 2:35266b266eaa | 90 | lastDownEvent.triggered = true; |
mkarlsso | 2:35266b266eaa | 91 | } else if ((newState == 1) && (!lastUpEvent.triggered)) { |
mkarlsso | 2:35266b266eaa | 92 | lastUpEvent.timeStamp = timeStamp; |
mkarlsso | 2:35266b266eaa | 93 | lastUpEvent.triggered = true; |
mkarlsso | 2:35266b266eaa | 94 | } |
mkarlsso | 2:35266b266eaa | 95 | } else { |
mkarlsso | 2:35266b266eaa | 96 | //If we are currently checking this input, then we buffer the trigger and deal with it after |
mkarlsso | 2:35266b266eaa | 97 | if (newState == 0){ |
mkarlsso | 2:35266b266eaa | 98 | bufferedDownEvent.timeStamp = timeStamp; |
mkarlsso | 2:35266b266eaa | 99 | bufferedDownEvent.triggered = true; |
mkarlsso | 2:35266b266eaa | 100 | } else if (newState == 1) { |
mkarlsso | 2:35266b266eaa | 101 | bufferedUpEvent.timeStamp = timeStamp; |
mkarlsso | 2:35266b266eaa | 102 | bufferedUpEvent.triggered = true; |
mkarlsso | 2:35266b266eaa | 103 | } |
mkarlsso | 2:35266b266eaa | 104 | } |
mkarlsso | 2:35266b266eaa | 105 | /* |
mkarlsso | 0:8dbd6bd9167f | 106 | if ((newState == 0) && (!lastDownEvent.triggered)){ |
mkarlsso | 0:8dbd6bd9167f | 107 | lastDownEvent.timeStamp = timeStamp; |
mkarlsso | 0:8dbd6bd9167f | 108 | lastDownEvent.triggered = true; |
mkarlsso | 0:8dbd6bd9167f | 109 | } else if ((newState == 1) && (!lastUpEvent.triggered)) { |
mkarlsso | 0:8dbd6bd9167f | 110 | lastUpEvent.timeStamp = timeStamp; |
mkarlsso | 0:8dbd6bd9167f | 111 | lastUpEvent.triggered = true; |
mkarlsso | 2:35266b266eaa | 112 | }*/ |
mkarlsso | 2:35266b266eaa | 113 | } |
mkarlsso | 2:35266b266eaa | 114 | |
mkarlsso | 2:35266b266eaa | 115 | void sDigitalIn::setUpdate(bool state) { |
mkarlsso | 2:35266b266eaa | 116 | updating = state; //If true, then we buffer any trigger events until the update check is done. |
mkarlsso | 2:35266b266eaa | 117 | if (!updating) { |
mkarlsso | 2:35266b266eaa | 118 | if (bufferedUpEvent.triggered) { |
mkarlsso | 2:35266b266eaa | 119 | lastUpEvent = bufferedUpEvent; |
mkarlsso | 2:35266b266eaa | 120 | } |
mkarlsso | 2:35266b266eaa | 121 | if (bufferedDownEvent.triggered) { |
mkarlsso | 2:35266b266eaa | 122 | lastDownEvent = bufferedDownEvent; |
mkarlsso | 2:35266b266eaa | 123 | } |
mkarlsso | 2:35266b266eaa | 124 | bufferedDownEvent.triggered = false; |
mkarlsso | 2:35266b266eaa | 125 | bufferedUpEvent.triggered = false; |
mkarlsso | 0:8dbd6bd9167f | 126 | } |
mkarlsso | 0:8dbd6bd9167f | 127 | } |
mkarlsso | 0:8dbd6bd9167f | 128 | |
mkarlsso | 0:8dbd6bd9167f | 129 | //----------------------------------------------------- |
mkarlsso | 0:8dbd6bd9167f | 130 | sSerialPort::sSerialPort() { |
mkarlsso | 0:8dbd6bd9167f | 131 | |
mkarlsso | 0:8dbd6bd9167f | 132 | } |
mkarlsso | 0:8dbd6bd9167f | 133 | |
mkarlsso | 0:8dbd6bd9167f | 134 | //------------------------------------------------------ |
mkarlsso | 0:8dbd6bd9167f | 135 | |
mkarlsso | 0:8dbd6bd9167f | 136 | sSound::sSound(void): |
mkarlsso | 0:8dbd6bd9167f | 137 | fileNameExists(false), |
mkarlsso | 0:8dbd6bd9167f | 138 | volumePtr(NULL), |
mkarlsso | 0:8dbd6bd9167f | 139 | volume(-1), |
mkarlsso | 0:8dbd6bd9167f | 140 | play(true), |
mkarlsso | 0:8dbd6bd9167f | 141 | reset(false) { |
mkarlsso | 0:8dbd6bd9167f | 142 | } |
mkarlsso | 0:8dbd6bd9167f | 143 | |
mkarlsso | 0:8dbd6bd9167f | 144 | void sSound::setFile(string fileNameIn) { |
mkarlsso | 0:8dbd6bd9167f | 145 | for (int i = 0; i < 20; i++) { |
mkarlsso | 0:8dbd6bd9167f | 146 | fileName[i] = NULL; |
mkarlsso | 0:8dbd6bd9167f | 147 | } |
mkarlsso | 0:8dbd6bd9167f | 148 | size_t length = fileNameIn.size(); |
mkarlsso | 0:8dbd6bd9167f | 149 | if (length <= 20) { |
mkarlsso | 0:8dbd6bd9167f | 150 | fileNameIn.copy(fileName, length, 0); |
mkarlsso | 0:8dbd6bd9167f | 151 | fileNameExists = true; |
mkarlsso | 0:8dbd6bd9167f | 152 | } |
mkarlsso | 0:8dbd6bd9167f | 153 | } |
mkarlsso | 0:8dbd6bd9167f | 154 | void sSound::setVolume(int volumeIn) { |
mkarlsso | 0:8dbd6bd9167f | 155 | |
mkarlsso | 0:8dbd6bd9167f | 156 | if ((volumeIn >= 0) && (volumeIn < 256)) { |
mkarlsso | 0:8dbd6bd9167f | 157 | volume = volumeIn; |
mkarlsso | 0:8dbd6bd9167f | 158 | volumePtr = NULL; |
mkarlsso | 0:8dbd6bd9167f | 159 | } |
mkarlsso | 0:8dbd6bd9167f | 160 | } |
mkarlsso | 0:8dbd6bd9167f | 161 | |
mkarlsso | 0:8dbd6bd9167f | 162 | void sSound::setVolume(int* volumeIn) { |
mkarlsso | 0:8dbd6bd9167f | 163 | |
mkarlsso | 0:8dbd6bd9167f | 164 | volume = -1; |
mkarlsso | 0:8dbd6bd9167f | 165 | volumePtr = volumeIn; |
mkarlsso | 0:8dbd6bd9167f | 166 | |
mkarlsso | 0:8dbd6bd9167f | 167 | } |
mkarlsso | 0:8dbd6bd9167f | 168 | |
mkarlsso | 0:8dbd6bd9167f | 169 | void sSound::setPlayback(bool playIn) { |
mkarlsso | 0:8dbd6bd9167f | 170 | play = playIn; |
mkarlsso | 0:8dbd6bd9167f | 171 | } |
mkarlsso | 0:8dbd6bd9167f | 172 | |
mkarlsso | 0:8dbd6bd9167f | 173 | void sSound::setReset() { |
mkarlsso | 0:8dbd6bd9167f | 174 | reset = true; |
mkarlsso | 0:8dbd6bd9167f | 175 | } |
mkarlsso | 0:8dbd6bd9167f | 176 | |
mkarlsso | 0:8dbd6bd9167f | 177 | |
mkarlsso | 0:8dbd6bd9167f | 178 | //----------------------------------------------------- |
mkarlsso | 0:8dbd6bd9167f | 179 | outputStream::outputStream(int bufferSizeIn): |
mkarlsso | 0:8dbd6bd9167f | 180 | readHead(0), |
mkarlsso | 0:8dbd6bd9167f | 181 | writeHead(0), |
mkarlsso | 0:8dbd6bd9167f | 182 | totalWriteHead(0), |
mkarlsso | 0:8dbd6bd9167f | 183 | totalReadHead(0), |
mkarlsso | 0:8dbd6bd9167f | 184 | bufferSize(bufferSizeIn), |
mkarlsso | 0:8dbd6bd9167f | 185 | unsentData(false), |
mkarlsso | 0:8dbd6bd9167f | 186 | serialPtr(NULL) { |
mkarlsso | 0:8dbd6bd9167f | 187 | |
mkarlsso | 0:8dbd6bd9167f | 188 | outputBuffer = new char[bufferSize]; |
mkarlsso | 0:8dbd6bd9167f | 189 | |
mkarlsso | 0:8dbd6bd9167f | 190 | } |
mkarlsso | 0:8dbd6bd9167f | 191 | |
mkarlsso | 0:8dbd6bd9167f | 192 | outputStream::~outputStream() { |
mkarlsso | 0:8dbd6bd9167f | 193 | delete[] outputBuffer; |
mkarlsso | 0:8dbd6bd9167f | 194 | } |
mkarlsso | 0:8dbd6bd9167f | 195 | |
mkarlsso | 0:8dbd6bd9167f | 196 | void outputStream::setSerial(sSerialPort *s) { |
mkarlsso | 0:8dbd6bd9167f | 197 | serialPtr = s; |
mkarlsso | 0:8dbd6bd9167f | 198 | } |
mkarlsso | 0:8dbd6bd9167f | 199 | |
mkarlsso | 0:8dbd6bd9167f | 200 | //used to immediately write to serial port |
mkarlsso | 0:8dbd6bd9167f | 201 | void outputStream::flush() { |
mkarlsso | 0:8dbd6bd9167f | 202 | if (serialPtr != NULL) { |
mkarlsso | 0:8dbd6bd9167f | 203 | while(unsentData) { |
mkarlsso | 0:8dbd6bd9167f | 204 | serialPtr->writeChar(getNextChar()); |
mkarlsso | 0:8dbd6bd9167f | 205 | } |
mkarlsso | 0:8dbd6bd9167f | 206 | } |
mkarlsso | 0:8dbd6bd9167f | 207 | } |
mkarlsso | 0:8dbd6bd9167f | 208 | |
mkarlsso | 0:8dbd6bd9167f | 209 | //adds text to the buffer |
mkarlsso | 0:8dbd6bd9167f | 210 | void outputStream::send(string outputString) { |
mkarlsso | 0:8dbd6bd9167f | 211 | int strLen = outputString.size(); |
mkarlsso | 0:8dbd6bd9167f | 212 | |
mkarlsso | 0:8dbd6bd9167f | 213 | int total = 0; |
mkarlsso | 0:8dbd6bd9167f | 214 | int chunk = 0; |
mkarlsso | 0:8dbd6bd9167f | 215 | if (totalWriteHead+strLen > (totalReadHead + bufferSize)) { |
mkarlsso | 0:8dbd6bd9167f | 216 | //We don't have enough space in the buffer, so flush it |
mkarlsso | 0:8dbd6bd9167f | 217 | flush(); |
mkarlsso | 0:8dbd6bd9167f | 218 | } |
mkarlsso | 0:8dbd6bd9167f | 219 | if (!(totalWriteHead+strLen > (totalReadHead + bufferSize))) { |
mkarlsso | 0:8dbd6bd9167f | 220 | while (strLen - total > 0) { |
mkarlsso | 0:8dbd6bd9167f | 221 | chunk = min((bufferSize - writeHead), strLen - total); |
mkarlsso | 0:8dbd6bd9167f | 222 | outputString.copy(outputBuffer + writeHead, chunk, total); |
mkarlsso | 0:8dbd6bd9167f | 223 | writeHead = (writeHead + chunk) % bufferSize; |
mkarlsso | 0:8dbd6bd9167f | 224 | totalWriteHead += chunk; |
mkarlsso | 0:8dbd6bd9167f | 225 | total += chunk; |
mkarlsso | 0:8dbd6bd9167f | 226 | } |
mkarlsso | 0:8dbd6bd9167f | 227 | if (total > 0) { |
mkarlsso | 0:8dbd6bd9167f | 228 | unsentData = true; |
mkarlsso | 0:8dbd6bd9167f | 229 | } |
mkarlsso | 0:8dbd6bd9167f | 230 | } |
mkarlsso | 0:8dbd6bd9167f | 231 | } |
mkarlsso | 0:8dbd6bd9167f | 232 | |
mkarlsso | 0:8dbd6bd9167f | 233 | void outputStream::debug(const char *s) { |
mkarlsso | 0:8dbd6bd9167f | 234 | //send to serial immediately, but only if debugOut is true |
mkarlsso | 0:8dbd6bd9167f | 235 | if (debugOut) { |
mkarlsso | 0:8dbd6bd9167f | 236 | string tmpString = string(s); |
mkarlsso | 0:8dbd6bd9167f | 237 | send(tmpString); |
mkarlsso | 0:8dbd6bd9167f | 238 | flush(); |
mkarlsso | 0:8dbd6bd9167f | 239 | } |
mkarlsso | 0:8dbd6bd9167f | 240 | } |
mkarlsso | 0:8dbd6bd9167f | 241 | |
mkarlsso | 0:8dbd6bd9167f | 242 | //Overloaded << operator to for debugging output. This eliminates the |
mkarlsso | 0:8dbd6bd9167f | 243 | //need for printf statements |
mkarlsso | 0:8dbd6bd9167f | 244 | outputStream& outputStream::operator<<(string outputString) { |
mkarlsso | 0:8dbd6bd9167f | 245 | send(outputString); |
mkarlsso | 0:8dbd6bd9167f | 246 | return *this; |
mkarlsso | 0:8dbd6bd9167f | 247 | } |
mkarlsso | 0:8dbd6bd9167f | 248 | |
mkarlsso | 0:8dbd6bd9167f | 249 | outputStream& outputStream::operator<<(const char* s) { |
mkarlsso | 0:8dbd6bd9167f | 250 | string tmpString = string(s); |
mkarlsso | 0:8dbd6bd9167f | 251 | send(tmpString); |
mkarlsso | 0:8dbd6bd9167f | 252 | return *this; |
mkarlsso | 0:8dbd6bd9167f | 253 | } |
mkarlsso | 0:8dbd6bd9167f | 254 | |
mkarlsso | 0:8dbd6bd9167f | 255 | outputStream& outputStream::operator<<(int outputNum) { |
mkarlsso | 0:8dbd6bd9167f | 256 | ostringstream varConvert; |
mkarlsso | 0:8dbd6bd9167f | 257 | varConvert << outputNum; |
mkarlsso | 0:8dbd6bd9167f | 258 | send(varConvert.str()); |
mkarlsso | 0:8dbd6bd9167f | 259 | return *this; |
mkarlsso | 0:8dbd6bd9167f | 260 | } |
mkarlsso | 0:8dbd6bd9167f | 261 | |
mkarlsso | 0:8dbd6bd9167f | 262 | outputStream& outputStream::operator<<(uint32_t outputNum) { |
mkarlsso | 0:8dbd6bd9167f | 263 | ostringstream varConvert; |
mkarlsso | 0:8dbd6bd9167f | 264 | varConvert << outputNum; |
mkarlsso | 0:8dbd6bd9167f | 265 | send(varConvert.str()); |
mkarlsso | 0:8dbd6bd9167f | 266 | return *this; |
mkarlsso | 0:8dbd6bd9167f | 267 | } |
mkarlsso | 0:8dbd6bd9167f | 268 | //the main loop gets one character per loop and write it to the serial port |
mkarlsso | 0:8dbd6bd9167f | 269 | char outputStream::getNextChar() { |
mkarlsso | 0:8dbd6bd9167f | 270 | |
mkarlsso | 0:8dbd6bd9167f | 271 | |
mkarlsso | 0:8dbd6bd9167f | 272 | if (totalReadHead < totalWriteHead) { |
mkarlsso | 0:8dbd6bd9167f | 273 | tmpOut = *(outputBuffer+readHead); |
mkarlsso | 0:8dbd6bd9167f | 274 | readHead = (readHead+1) % bufferSize; |
mkarlsso | 0:8dbd6bd9167f | 275 | totalReadHead++; |
mkarlsso | 0:8dbd6bd9167f | 276 | if (totalReadHead >= totalWriteHead) { |
mkarlsso | 0:8dbd6bd9167f | 277 | unsentData = false; |
mkarlsso | 0:8dbd6bd9167f | 278 | } |
mkarlsso | 0:8dbd6bd9167f | 279 | } |
mkarlsso | 0:8dbd6bd9167f | 280 | return tmpOut; |
mkarlsso | 0:8dbd6bd9167f | 281 | |
mkarlsso | 0:8dbd6bd9167f | 282 | } |
mkarlsso | 0:8dbd6bd9167f | 283 | |
mkarlsso | 0:8dbd6bd9167f | 284 |